CN115884363A - Positioning method and terminal - Google Patents

Abstract

The application discloses a positioning method and a terminal, which belong to the technical field of terminal communication, and the method of the embodiment of the application comprises the following steps: the target terminal positions the position information of the target terminal according to the second information from the anchor point terminal; wherein the second information relates to single anchor point terminal side link positioning.

Description

Positioning method and terminal

technical field

The present application belongs to the technical field of terminal communication, and in particular relates to a positioning method and a terminal.

Background technique

At present, when the target terminal has positioning requirements, the RAT-dependent method can be used to locate the target terminal, that is, the positioning can be realized by sending and measuring positioning reference signals through the Uu interface between the target terminal and the base station, or Use a RAT-independent positioning method to locate the target terminal, such as using a global navigation satellite system (Global Navigation Satellite System, GNSS) for positioning, or you can also use a sidelink (sidelink, between the terminal and other nodes (except the base station) The communication link between them, which may also be referred to as a secondary link, a direct link, a side link, a side link, etc.) to locate the target terminal.

When using the sidelink to locate the target terminal, you can use the downlink time difference of arrival (DownLink Time Difference of Arrival, DL-TDOA) positioning method for positioning, or you can use the sidelink of the anchor terminal (Anchor User Equipment, Anchor UE) Positioning method for positioning. However, for the sidelink positioning method for a single Anchor UE, there is still a lack of a detailed positioning process to realize the positioning of the target terminal.

Contents of the invention

Embodiments of the present application provide a positioning method and a terminal, which can solve the problem of how to use the sidelink positioning method of a single-anchor terminal to locate a target terminal.

In the first aspect, a positioning method is provided, including:

The target terminal determines the location information of the target terminal according to the second information from the anchor terminal;

Wherein, the second information is related to single-anchor terminal sidelink positioning.

In a second aspect, a positioning device is provided, including:

a positioning module, configured to determine the location information of the target terminal according to the second information from the anchor terminal;

Wherein, the second information is related to single-anchor terminal sidelink positioning.

In the third aspect, a positioning method is provided, including:

The first terminal sends second information related to sidelink positioning of the single-anchor terminal to the target terminal;

Wherein, when the first terminal is an anchor terminal, the second information is used by the target terminal to determine the location information of the target terminal.

In a fourth aspect, a positioning device is provided, including:

A sending module, configured to send second information related to sidelink positioning of a single-anchor terminal to the target terminal;

Wherein, when the first terminal is an anchor terminal, the second information is used by the target terminal to determine the location information of the target terminal.

According to a fifth aspect, a terminal is provided. The terminal includes a processor, a memory, and a program or instruction stored in the memory and operable on the processor. When the program or instruction is executed by the processor The steps of the method described in the first aspect are realized.

According to a sixth aspect, a target terminal is provided, including a processor and a communication interface, wherein the processor is configured to determine the location information of the target terminal according to the second information from the anchor terminal; wherein the second Information related to single-anchor terminal sidelink positioning.

In a seventh aspect, a first terminal is provided. The network side device includes a processor, a memory, and a program or instruction stored in the memory and operable on the processor. The program or instruction is executed by the The processor implements the steps of the method described in the third aspect when executing.

In an eighth aspect, a first terminal is provided, including a processor and a communication interface, wherein the communication interface is used to send the second information related to the side link positioning of the single-anchor terminal to the target terminal; wherein, in the When the first terminal is an anchor terminal, the second information is used by the target terminal to determine the location information of the target terminal.

In the ninth aspect, a readable storage medium is provided, and programs or instructions are stored on the readable storage medium, and when the programs or instructions are executed by a processor, the steps of the method described in the first aspect are realized, or the steps of the method described in the first aspect are realized, or The steps of the method described in the third aspect.

In a tenth aspect, a chip is provided, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the method as described in the first aspect , or implement the method as described in the third page.

In an eleventh aspect, a computer program/program product is provided, the computer program/program product is stored in a non-transitory readable storage medium, and the computer program/program product is executed by at least one processor to implement The steps of the method described in the first aspect implement the steps of the method described in the third aspect.

In this embodiment of the present application, when the target terminal has a positioning requirement, the anchor terminal can send the second information related to the side-link positioning of the single-anchor terminal to the target terminal, and the target terminal can send the second information from the anchor terminal to the target terminal. The information determines the location information of the target terminal. The embodiment of the present application provides a detailed positioning procedure for locating a target terminal based on a sidelink positioning method for a single-anchor terminal, and the location information of the target terminal can be obtained based on the positioning procedure.

Description of drawings

FIG. 1 is a schematic diagram of a wireless communication system according to an embodiment of the present application;

2 is a schematic diagram of a sidelink positioning method for a single-anchor terminal according to an embodiment of the present application;

FIG. 3 is a schematic flowchart of a positioning method according to an embodiment of the present application;

FIG. 4 is a schematic flowchart of a positioning method according to an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a positioning device according to an embodiment of the present application;

FIG. 6 is a schematic structural diagram of a positioning device according to an embodiment of the present application;

FIG. 7 is a schematic structural diagram of a communication device according to an embodiment of the present application;

Fig. 8 is a schematic structural diagram of a terminal according to an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, but not all of them. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in this application belong to the protection scope of this application.

The terms "first", "second" and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific sequence or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application are capable of operation in sequences other than those illustrated or described herein and that "first" and "second" distinguish objects. It is usually one category, and the number of objects is not limited. For example, there may be one or more first objects. In addition, "and/or" in the description and claims means at least one of the connected objects, and the character "/" generally means that the related objects are an "or" relationship.

It is worth pointing out that the technology described in the embodiment of this application is not limited to the Long Term Evolution (Long Term Evolution, LTE)/LTE-Advanced (LTE-Advanced, LTE-A) system, and can also be used in other wireless communication systems, such as code division Multiple Access (Code Division Multiple Access, CDMA), Time Division Multiple Access (Time Division Multiple Access, TDMA), Frequency Division Multiple Access (Frequency Division Multiple Access, FDMA), Orthogonal Frequency Division Multiple Access (OFDMA) , Single-carrier Frequency-Division Multiple Access (Single-carrier Frequency-Division Multiple Access, SC-FDMA) and other systems. The terms "system" and "network" in the embodiments of the present application are often used interchangeably, and the described technology can be used for the above-mentioned system and radio technology, and can also be used for other systems and radio technologies. The following description describes the New Radio (NR) system for illustrative purposes, and uses NR terminology in most of the following descriptions, but these techniques can also be applied to applications other than NR system applications, such as the 6th generation (6 ^th Generation, 6G) communication system.

Fig. 1 shows a block diagram of a wireless communication system to which the embodiment of the present application is applicable. The wireless communication system includes a terminal 11 and a network side device 12 . Wherein, the terminal 11 can also be called a terminal device or a user terminal (User Equipment, UE), and the terminal 11 can be a mobile phone, a tablet computer (Tablet Personal Computer), a laptop computer (LaptopComputer) or a notebook computer, a personal digital assistant (Personal Digital Assistant, PDA), handheld computer, netbook, ultra-mobile personal computer (ultra-mobile personal computer, UMPC), mobile Internet device (Mobile Internet Device, MID), wearable device (Wearable Device) or vehicle-mounted device ( VUE), Pedestrian Terminal (PUE) and other terminal-side devices, wearable devices include: smart watches, bracelets, earphones, glasses, etc. It should be noted that, the embodiment of the present application does not limit the specific type of the terminal 11 . The network side device 12 may be a base station or a core network, where a base station may be called a node B, an evolved node B, an access point, a base transceiver station (Base Transceiver Station, BTS), a radio base station, a radio transceiver, a basic service Basic Service Set (BSS), Extended Service Set (ESS), Node B, Evolved Node B (eNB), Home Node B, Home Evolved Node B, WLAN access point, WiFi node, transmission Transmitting Receiving Point (TRP) or some other suitable term in the field, as long as the same technical effect is achieved, the base station is not limited to specific technical terms. It should be noted that in the embodiments of this application, only The base station in the NR system is taken as an example, but the specific type of the base station is not limited.

In FIG. 1 , terminals 11 can communicate based on sidelink. For any terminal 11, when the terminal 11 has a positioning requirement, the terminal 11 can be positioned based on a sidelink positioning method. Wherein, the sidelink-based positioning method may be a DL-TDOA positioning method, or a sidelink positioning method of a single-anchor terminal. For the sidelink positioning method of a single-anchor terminal, the embodiment of the present application provides a detailed positioning process. When the target terminal has a positioning requirement, the position information of the target terminal can be obtained based on the positioning process.

FIG. 2 is a schematic diagram of a sidelink positioning method for a single-anchor terminal according to an embodiment of the present application. When using the sidelink positioning method for a single-anchor terminal to calculate the location information of the target terminal, the target terminal can be obtained based on the method shown in FIG. 2 location information.

In Figure 2, the anchor terminal can periodically (assuming the period is T) send a sidelink positioning reference signal (sidelink Positioning Reference Signal, SL-PRS) to the target terminal, T0, T1 and T2 in Figure 2 are anchor points The moment when the terminal sends SL-PRS three times continuously, the moment when the target terminal receives the three SL-PRS is T0+△T0, T1+△T1 and T2+△T2, and the target terminal is traveling between T0+△T0 and T1+△T1 The distance is D1, and the distance traveled between T1+ΔT1 and T2+ΔT2 is D2. For the sidelink positioning method of a single-anchor terminal, the following information is known:

(1) Location information of the anchor terminal;

(2) The cycle T for the anchor terminal to send the SL-PRS, T=T2-T1=T;

(3) The moment when the target terminal receives 3 SL-PRS;

The time interval for the target terminal to receive the SL-PRS is:

(T1+△T1)-(T0+△T0)=T+(△T1-△T0), that is, TDoA1=(△T1-△T0)=(T1+△T1)-(T0+△T0)–T;

(T2+△T2)-(T1+△T1)=T+(△T2-△T1), that is, TDoA2=(△T2-△T1)=(T2+△T2)-(T1+△T1)-T;

(4) The target terminal calculates D1 and D2 according to the time (such as through the gyroscope, etc.)

Through the above four known information, the location information of the target terminal can be determined and obtained.

The positioning method and terminal provided by the embodiments of the present application will be described in detail below through some embodiments and application scenarios with reference to the accompanying drawings.

As shown in FIG. 3, the embodiment of the present application provides a positioning method 300, which can be performed by a target terminal (Target UE) that needs positioning. In other words, the method can be performed by software or hardware installed on the target terminal. The method includes the following steps.

S302: The target terminal determines location information of the target terminal according to the second information from the anchor terminal; wherein, the second information is related to single-anchor terminal sidelink positioning.

In S302, when the target terminal has a positioning requirement, the target terminal determines to use sidelink (sidelink) positioning, and the specific method of the sidelink positioning that the target terminal determines to use is the sidelink positioning method of a single anchor terminal (sidelink positioning method of a single Anchor UE positioning method), the target terminal may receive second information related to sidelink positioning of a single anchor terminal (single Anchor UE sidelink positioning) from an anchor terminal (Anchor UE).

The aforementioned target terminal having a positioning requirement may mean that the application layer of the target terminal has a positioning requirement. Positioning methods include sidelink positioning, or RAT-dependent positioning, etc. The above-mentioned target terminal determines to use sidelink positioning. The target terminal may determine to use sidelink positioning according to the rules pre-configured on the network side device, or the target terminal may determine according to the rules stipulated in the protocol. Use sidelink for positioning, or, the target terminal may decide to use sidelink for positioning.

The specific methods of Sidelink positioning include the sidelink positioning method of a single Anchor UE and the sidelink positioning method of multiple Anchor UEs. The above-mentioned target terminal determines to use the sidelink positioning method of a single Anchor UE. The sidelink positioning method of the UE, or, may also be that the target terminal determines to use the sidelink positioning method of a single Anchor UE according to the rules stipulated in the protocol, or may also be that the target terminal itself decides to use the sidelink positioning method of a single Anchor UE.

The above-mentioned second information may include at least one of the following:

The location information of the anchor terminal;

Configuration information of a sidelink positioning reference signal (Positioning Reference Signal, PRS).

The above configuration information of the sidelink PRS may include at least one of the following: a sending period of the sidelink PRS; and a first sending time of the sidelink PRS.

An anchor terminal (Anchor UE) can be understood as a terminal that assists a target terminal in positioning. In this embodiment, the anchor terminal can be configured by a network side device, or can be determined by the target terminal from other terminals. In the case where the anchor terminal is configured by the network-side device, when the target terminal has positioning requirements and determines to use the sidelink positioning method of a single Anchor UE for positioning, the anchor terminal can send the first information related to single Anchor UE sidelink positioning to the target terminal. Second information, when the target terminal receives the second information from the anchor terminal, it may determine the location information of the target terminal according to the second information. In the case that the anchor terminal is determined by the target terminal from other terminals, the target terminal needs to determine the anchor terminal before determining the location information.

When the target terminal determines the anchor terminal, the specific implementation method is as follows:

First, the target terminal sends first information related to sidelink positioning to other terminals;

Secondly, the target terminal receives feedback information from other terminals;

Finally, the target terminal determines the anchor terminal from other terminals according to the feedback information.

The above-mentioned first information may be information about the target terminal, sidelink positioning information, requirements for other terminals, information requested for other terminals, and the like. Among them, the information of the target terminal can be the target terminal’s sidelink positioning capability, mobile status, etc., the sidelink positioning information can be the single Anchor UE’s sidelink positioning method, positioning accuracy, etc., and the requirements for other terminals can be the single Anchor UE sidelink positioning capability requirements etc., the information requested for other terminals may be single Anchor UE sidelink positioning capability, zone information, mobility status, etc.

In this embodiment, the target terminal may send the first information related to sidelink positioning to other terminals in at least one of the following situations:

The first case: when the target terminal has established a PC5 unicast link (PC5 unicast link) with other terminals, the target terminal sends the first information related to sidelink positioning to other terminals;

The second case: when the target terminal has not established a PC5 unicast link with other terminals, the target terminal initiates the process of establishing a PC5 unicast link with other terminals to other terminals, and the process of establishing a PC5 unicast link During or after the establishment process of the PC5 unicast link, the target terminal sends the first information related to sidelink positioning to other terminals. Wherein, the target terminal initiates the establishment process of the PC5 unicast link with other terminals, specifically, the upper layer (PC5-signaling, ie PC5-S) of the target terminal initiates the establishment process of the PC5 unicast link.

For any of the above situations, when the target terminal sends the first information related to sidelink positioning to other terminals, it may be implemented in at least one of the following ways:

(1) sending a first message to other terminals through a UE Capability Enquiry Sidelink (UE Capability Enquiry Sidelink) message;

(2) sending the first message to other terminals through a radio resource control (Radio Resource Control, RRC) reconfiguration sidelink (RRCReconfiguration Sidelink) message;

(3) sending the first message to other terminals through a link identifier update request (Link Identifier Update Request) message;

(4) Sending the first message to other terminals through a link identifier update confirmation (Link Identifier Update Ack) message;

(5) sending the first message to other terminals through a disconnection request (Disconnect Request) message;

(6) sending the first message to other terminals through a link modification request (Link Modification Request) message;

(7) Sending the first message to other terminals through a Keep-alive message;

(8) sending the first message to other terminals through the newly defined PC5-RRC message;

(9) Sending the first message to other terminals through a newly defined PC5-signaling (PC5-S) message.

After receiving the first information sent by the target terminal, other terminals may determine whether to send feedback information to the target terminal according to certain rules. If necessary, other terminals send feedback information to the target terminal. For example, if other terminals meet the "requirements for other terminals" in the received first information, the other terminals may send feedback information to the target terminal. Wherein, the feedback information sent by other terminals to the target terminal may be the sidelink positioning capability of other terminals, the zone information of other terminals, the moving status of other terminals, and the like.

In this embodiment, when other terminals send feedback information to the target terminal, they may send it in at least one of the following ways, that is, when the target terminal receives feedback information from other terminals, it may receive it in at least one of the following ways:

(1) When the target terminal sends the first message to other terminals through a terminal capability inquiry sidelink (UE Capability Enquiry Sidelink) message, receive feedback information through a terminal capability information sidelink (UE CapabilityInformation Sidelink) message;

(2) When the target terminal sends the first message to other terminals through the RRC Reconfiguration Sidelink (RRC Reconfiguration Sidelink) message, the RRC Reconfiguration Complete Sidelink (RRC Reconfiguration Complete Sidelink) message receives the feedback information;

(3) When the target terminal sends the first message to other terminals through a link identifier update request (Link Identifier Update Request) message, receive feedback information through a link identifier update response (Link IdentifierUpdate Response) message;

(4) When the target terminal sends the first message to other terminals through a link identifier update confirmation (Link Identifier Update Ack) message, receive feedback information through a newly defined PC5-signaling (PC5-S) message;

(5) When the target terminal sends the first message to other terminals through a disconnection request (Disconnect Request) message, receive feedback information through a disconnection response (Disconnect Response) message;

(6) When the target terminal sends the first message to other terminals through a link modification request (Link Modification Request) message, receive feedback information through a link modification accept (Link Modification Accept) message;

(7) In the case that the target terminal sends the first message to other terminals through a Keep-alive message, receive feedback information through a Keep-alive Ack message;

(8) When the target terminal sends the first message to other terminals through the newly defined PC5-RRC message, receive the feedback information through the newly defined PC5-RRC message;

(9) When the target terminal sends the first message to other terminals through the newly defined PC5-signaling (PC5-S) message, receive the feedback information through the newly defined PC5-signaling (PC5-S) message.

After receiving the feedback information from other terminals, the target terminal may determine the anchor terminal according to the feedback information from other terminals. For example, the terminal with the best sidelink positioning capability among other terminals can be selected as the anchor terminal. Of course, the anchor terminal can also be determined in other ways, and how to determine the anchor terminal is not specifically limited here.

In a possible implementation manner, when the above target terminal sends the first information to other terminals, it may also send a first request to other terminals incidentally, and the first request is used to request information related to single-anchor terminal side link positioning the second information. That is to say, when the target terminal has established a PC5 unicast link with other terminals, the target terminal may send the first request incidentally when sending the first information to other terminals, or, when the target terminal has not established a link with other terminals, In the case of a PC5 unicast link, when the target terminal initiates a PC5 unicast link establishment process with other terminals, during or after the establishment process, when the target terminal sends the first information to other terminals, The first request can be sent incidentally. Wherein, when the target terminal sends the first request to other terminals, it may be realized by at least one of the above nine implementation manners when the target terminal sends the first information to other terminals.

After receiving the first request, other terminals may send the second information to the target terminal. Optionally, the other terminal may send the second information to the target terminal at the same time when sending the above feedback information to the target terminal. In this way, when receiving feedback information from other terminals, the target terminal may also receive second information from other terminals. Wherein, when the other terminal sends the second information to the target terminal, that is, when the target terminal receives the second information from the other terminal, at least one of the nine implementation manners when the target terminal receives the feedback information from the other terminal item is realized.

In another possible implementation, if the target terminal does not request the second information related to the single-anchor terminal sidelink positioning in the previous steps after determining the anchor terminal, for example, the target terminal sends other When the terminal sends the first information above, it does not request the second information incidentally (that is, it does not send the first request incidentally), then after the target terminal determines the anchor terminal, it needs to send the first request to the anchor terminal to request the anchor terminal The second information of the terminal related to sidelink positioning of the single-anchor terminal. After the target terminal sends the first request to the anchor terminal, the anchor terminal can send the second information related to the single-anchor terminal sidelink positioning to the target terminal, and the target terminal can receive the second information from the anchor terminal, according to The second information can determine its own location information.

When the above-mentioned target terminal sends the first request to the anchor terminal, it may be implemented in at least one of the following ways:

(1) sending a first request to the anchor terminal through a UE Capability Enquiry Sidelink (UE Capability Enquiry Sidelink) message;

(2) sending a first request to the anchor terminal through an RRC Reconfiguration Sidelink (RRC Reconfiguration Sidelink) message;

(3) sending a first request to the anchor terminal through a link identifier update request (Link Identifier Update Request) message;

(4) Send a first request to the anchor terminal through a link identifier update confirmation (Link Identifier Update Ack) message;

(5) sending a first request to the anchor terminal through a disconnection request (Disconnect Request) message;

(6) sending a first request to the anchor terminal through a link modification request (Link Modification Request) message;

(7) Sending a first request to the anchor terminal through a Keep-alive message;

(8) sending a first request to the anchor terminal through a newly defined PC5-RRC message;

(9) Send the first request to the anchor terminal through a newly defined PC5-signaling (PC5-S) message.

After the anchor terminal receives the first request from the target terminal, when sending the second information related to the single-anchor terminal sidelink positioning to the target terminal, it can be realized in at least one of the following ways, that is, the target terminal receives The second information related to sidelink positioning of a single-anchor terminal from the anchor terminal can be realized in at least one of the following ways:

(1) In the case where the first request is sent to the anchor terminal through a UE Capability Enquiry Sidelink (UE Capability Enquiry Sidelink) message, receiving the second information through a UE Capability Information Sidelink message;

(2) In the case of sending the first request to the anchor terminal through the RRC Reconfiguration Sidelink (RRC Reconfiguration Sidelink) message, receiving the second information through the RRC Reconfiguration CompleteSidelink message;

(3) receiving the second information through a link identifier update response (Link Identifier UpdateResponse) message when the first request is sent to the anchor terminal through a link identifier update request (Link Identifier Update Request) message;

(4) In the case of sending the first request to the anchor terminal through a link identifier update confirmation (Link Identifier Update Ack) message, receive the second information through a newly defined PC5-signaling (PC5-S) message;

(5) In the case of sending the first request to the anchor terminal through a disconnection request (Disconnect Request) message, receiving the second information through a disconnection response (Disconnect Response) message;

(6) In the case of sending the first request to the anchor terminal through a link modification request (Link Modification Request) message, receiving the second information through a link modification accept (Link Modification Accept) message;

(7) In the case of sending the first request to the anchor terminal through a Keep-alive message, receive the second information through a Keep-alive Ack message;

(8) In the case of sending the first request to the anchor terminal through the newly defined PC5-RRC message, receiving the second information through the newly defined PC5-RRC message;

(9) When the first request is sent to the anchor terminal through the newly defined PC5-signaling (PC5-S) message, the second information is received through the newly defined PC5-signaling (PC5-S) message.

In this embodiment, when the target terminal receives the second information related to the single-anchor terminal sidelink positioning of the anchor terminal configured by the network side device, or, the target terminal passes the above-mentioned incidental request method (that is, in the When sending the first information, send a first request for requesting the second information along with it) when receiving the second information from the anchor terminal, or, after the target terminal determines the anchor terminal, send the first request to the anchor terminal When receiving the second information from the anchor terminal, the location information of the target terminal may be determined based on the second information.

When the target terminal determines the location information of the target terminal, the location information may be calculated by the target terminal, or the location information may be obtained by the network side device. Wherein, when the location information is calculated by the target terminal, the specific implementation manner is as follows.

After the anchor terminal sends the second information related to the sidelink positioning of the single anchor terminal to the target terminal, it can send the sidelink PRS to the target terminal according to the configuration information of the sidelink PRS included in the second information. The target terminal receives the sidelink PRS sent by the anchor terminal, and measures the times when the sidelink PRS is received multiple times (such as 3 times) and the multiple first distances traveled by the target terminal within multiple first time periods (such as D1 and D2) shown in FIG. 2 ), the first time period is a time period between when the target terminal receives two adjacent sidelink PRSs. After measuring the times when the sidelink PRS is received multiple times and the multiple first distances traveled by the target terminal within the above multiple first time periods, combined with the location information of the anchor terminal included in the second information, the sidelink Based on the periodic information of the PRS, the location information of the target terminal can be calculated.

If the network side equipment calculates the location information of the target terminal, the target terminal can use the location information of the anchor terminal, the period information of the side link PRS, the times when the The multiple first distances traveled within a period of time are sent to the network-side device. After receiving the information sent by the target terminal, the network-side device can calculate the location information of the target terminal and send the location information of the target terminal to the target terminal. .

The embodiment of the present application provides a detailed positioning process for locating a target terminal based on a sidelink positioning method based on a single-anchor terminal. When the target terminal has a positioning requirement, the target terminal can obtain the location information of the target terminal based on the positioning process.

As shown in Figure 4, the embodiment of the present application provides a positioning method 400, which can be executed by any first terminal among other terminals except the target terminal that needs positioning. The method is executed by software or hardware of a terminal, and the method includes the following steps.

S402: The first terminal sends to the target terminal second information related to the single-anchor terminal side link positioning; wherein, when the first terminal is an anchor terminal, the second information is used by the target terminal to determine the position of the target terminal information.

In S402, when the target terminal has a positioning requirement, the target terminal determines to use sidelink positioning, and the specific method of the sidelink positioning that the target terminal determines to use is the sidelink positioning method of a single anchor terminal (the sidelink positioning method of a single Anchor UE) , the first terminal other than the target terminal may send the second information related to sidelink positioning of the single-anchor terminal to the target terminal. Wherein, the first terminal may be an anchor terminal or a non-anchor terminal. In the case where the first terminal is an anchor terminal (the network side device configures the first terminal as an anchor terminal, or the target terminal determines that the first terminal is an anchor terminal from other terminals based on the embodiment shown in FIG. 3 ), The second information is used by the target terminal to determine the location information of the target terminal, that is, after receiving the second information from the first terminal, the target terminal may determine the location information of the target terminal based on the second information.

The above-mentioned second information may include at least one of the following:

The location information of the anchor terminal;

Configuration information of a sidelink positioning reference signal (Positioning Reference Signal, PRS).

The above configuration information of the sidelink PRS may include at least one of the following: a sending period of the sidelink PRS; and a first sending time of the sidelink PRS.

In this embodiment, when the target terminal determines the anchor terminal from other terminals, before the first terminal sends the second information related to the single-anchor terminal side-link positioning to the target terminal, The first information related to sidelink positioning. The first information may be target terminal information (such as the target terminal's sidelink positioning capability, movement status, etc.), sidelink positioning information (such as a single-anchor terminal's sidelink positioning method, positioning accuracy, etc.), requirements for other terminals (such as Single-anchor terminal sidelink positioning capability requirements, etc.), request information of other terminals (such as single-anchor terminal sidelink positioning capability, zone information, mobile status, etc.).

After receiving the first information, the first terminal may determine whether to send feedback information to the target terminal according to a certain rule. If necessary, feedback information may be sent to the target terminal. For example, the first terminal may determine whether the "requirements for other terminals" in the received first information are satisfied, and if so, may send feedback information to the target terminal. Wherein, the feedback information may include the sidelink positioning capability of the first terminal, the zone information where the first terminal is located, the moving state of the first terminal, and the like. After receiving the feedback information from the multiple first terminals, the target terminal may determine the anchor terminal from the multiple first terminals according to the feedback information. For example, a terminal with the best sidelink positioning capability among multiple first terminals may be selected as the anchor terminal. Of course, the anchor terminal may also be determined in other ways, and how to determine the anchor terminal is not specifically limited here.

When the above-mentioned first terminal receives the first information related to sidelink positioning from the target terminal, it may receive the first information in at least one of the following situations:

The first case: when the first terminal has established a PC5 unicast link with the target terminal, the first terminal receives first information related to sidelink positioning from the target terminal;

The second case: when the first terminal and the target terminal have not established a PC5 unicast link, during or after the establishment of the PC5 unicast link, the first terminal receives the First information related to sidelink positioning of the target terminal. Wherein, the establishment process of the PC5 unicast link is initiated by the target terminal. When the target terminal initiates the establishment process of the PC5 unicast link with the first terminal, it may specifically be the upper layer of the target terminal (PC5-signaling, that is, PC5- S) Initiate the establishment process of the PC5 unicast link.

For any of the above situations, the first terminal receives first information related to sidelink positioning from the target terminal, including at least one of the following:

(1) receiving the first message through a UE Capability Enquiry Sidelink (UE Capability Enquiry Sidelink) message;

(2) receiving the first message through an RRC Reconfiguration Sidelink (RRC Reconfiguration Sidelink) message;

(3) receiving the first message through a link identifier update request (Link Identifier Update Request) message;

(4) receiving the first message through a link identifier update confirmation (Link Identifier Update Ack) message;

(5) receiving the first message through a disconnection request (Disconnect Request) message;

(6) receiving the first message through a link modification request (Link Modification Request) message;

(7) receiving the first message by keeping a connection (Keep-alive) message;

(8) receiving the first message through a newly defined PC5-RRC message;

(9) Receive the first message through a newly defined PC5-Signaling (PC5-S) message.

When the above-mentioned first terminal sends feedback information to the target terminal, at least one of the following items is included:

(1) In the case of receiving the first message through a terminal capability inquiry sidelink (UE Capability Enquiry Sidelink) message, send feedback information to the target terminal through a terminal capability information sidelink (UE Capability Information Sidelink) message;

(2) In the case of receiving the first message through the RRC Reconfiguration Sidelink message (RRC Reconfiguration Sidelink), send feedback information to the target terminal through the RRC Reconfiguration Complete Sidelink message;

(3) In the case of receiving the first message through a link identifier update request (Link Identifier Update Request) message, send feedback information to the target terminal through a link identifier update response (Link Identifier Update Response) message;

(4) In the case of receiving the first message through a link identifier update confirmation (Link Identifier Update Ack) message, send feedback information to the target terminal through a newly defined PC5-signaling (PC5-S) message;

(5) in the case of receiving the first message through a disconnection request (Disconnect Request) message, sending feedback information to the target terminal through a disconnection response (Disconnect Response) message;

(6) In the case of receiving the first message through a link modification request (Link Modification Request) message, sending feedback information to the target terminal through a link modification accept (Link Modification Accept) message;

(7) In the case of receiving the first message through a Keep-alive message, send feedback information to the target terminal through a Keep-alive Ack message;

(8) In the case of receiving the first message through the newly defined PC5-RRC message, sending feedback information to the target terminal through the newly defined PC5-RRC message;

(9) In the case of receiving the first message through the newly defined PC5-signaling (PC5-S) message, send the feedback information to the target terminal through the newly defined PC5-signaling (PC5-S) message.

In a possible implementation manner, when receiving the first information related to sidelink positioning from the target terminal, the above-mentioned first terminal also receives a first request from the target terminal incidentally, and the first request is used for requesting and The second information related to sidelink positioning of the single-anchor terminal. In this way, when the first terminal sends the feedback information to the target terminal, it can also send the second information related to the single-anchor terminal sidelink positioning incidentally. That is to say, in S402, the first terminal sending the second information related to the side link positioning of the single-anchor terminal to the target terminal may specifically be that, when sending the feedback information to the target terminal, the first terminal sends the target terminal the second information.

In another possible implementation manner, if the first terminal does not receive the first request from the target terminal incidentally when receiving the first information related to sidelink positioning from the target terminal, the first terminal is In the case where the target terminal is determined to be the anchor terminal, after the first terminal sends feedback information to the target terminal, it may also receive a first request from the target terminal, and based on the first request, the first terminal may send the target terminal a corresponding The second information related to sidelink positioning of the single-anchor terminal. That is to say, the first terminal in S402 sends the second information related to the side link positioning of the single anchor terminal to the target terminal. When a terminal sends the first information without incidentally requesting the second information, the first terminal sends the second information to the target terminal based on the first request from the target terminal.

After the above-mentioned first terminal sends feedback information to the target terminal, receiving the first request from the target terminal may include at least one of the following:

(1) receiving the first request through a UE Capability Enquiry Sidelink (UE Capability Enquiry Sidelink) message;

(2) receiving the first request through a radio resource control RRC reconfiguration sidelink (RRC Reconfiguration Sidelink) message;

(3) receiving the first request through a link identifier update request (Link Identifier Update Request) message;

(4) receiving the first request through a link identifier update confirmation (Link Identifier Update Ack) message;

(5) receiving the first request through a disconnection request (Disconnect Request) message;

(6) receiving the first request through a link modification request (Link Modification Request) message;

(7) receiving the first request by keeping a connection (Keep-alive) message;

(8) receiving the first request through a newly defined PC5-RRC message;

(9) Receive the first request through a newly defined PC5-Signaling (PC5-S) message.

After receiving the first request from the target terminal, the first terminal sends to the target terminal second information related to sidelink positioning of the single-anchor terminal, including at least one of the following:

(1) In the case of receiving the first request through a terminal capability inquiry sidelink (UE Capability Enquiry Sidelink) message, sending the second information to the target terminal through a terminal capability information sidelink (UE Capability Information Sidelink) message;

(2) In the case of receiving the first request through an RRC Reconfiguration Sidelink (RRC Reconfiguration Sidelink) message, sending the second information to the target terminal through an RRC Reconfiguration Complete Sidelink message;

(3) In the case of receiving the first request through a link identifier update request (Link Identifier Update Request) message, sending the second information to the target terminal through a link identifier update response (Link Identifier Update Response) message;

(4) In the case of receiving the first request through a link identifier update confirmation (Link Identifier Update Ack) message, send the second information to the target terminal through a newly defined PC5-signaling (PC5-S) message;

(5) in the case of receiving the first request through a disconnection request (Disconnect Request) message, sending the second information to the target terminal through a disconnection response (Disconnect Response) message;

(6) In the case of receiving the first request through a Link Modification Request (Link Modification Request) message, sending the second information to the target terminal through a Link Modification Accept (Link Modification Accept) message;

(7) In the case of receiving the first request through a Keep-alive message, sending the second information to the target terminal through a Keep-alive Ack message;

(8) In the case of receiving the first request through the newly defined PC5-RRC message, sending the second information to the target terminal through the newly defined PC5-RRC message;

(9) In the case of receiving the first request through the newly defined PC5-signaling (PC5-S) message, sending the second information to the target terminal through the newly defined PC5-signaling (PC5-S) message.

In this embodiment, after the first terminal sends the second information related to the side link positioning of the single-anchor terminal to the target terminal, if the first terminal is an anchor terminal, it may also base on the second information included in the second information The configuration information of the side link PRS is to send the side link PRS to the target terminal, and the target terminal determines the location information of the target terminal according to the side link PRS. For the specific implementation manner of determining the location information of the target terminal, reference may be made to the corresponding content in the embodiment shown in FIG. 3 , which will not be repeated here.

The embodiment of the present application provides a detailed positioning process for locating a target terminal based on a sidelink positioning method based on a single-anchor terminal. When the target terminal has a positioning requirement, the target terminal can obtain the location information of the target terminal based on the positioning process.

Based on the positioning process of the sidelink positioning method for a single-anchor terminal provided in the embodiment of the present application, in a possible implementation manner, the location information of the target terminal may be determined through the following steps.

Step 1: The application layer of the target terminal has positioning requirements.

Step 2: The target terminal determines a positioning method (such as sidelink positioning, or RAT-dependent positioning) and needs to use sidelink positioning.

Wherein, the positioning method used by the target terminal may be determined according to a rule preconfigured by the network side device, or determined according to a rule stipulated in the protocol, or determined by the target terminal itself.

Step 3: The specific method for the target terminal to determine the sidelink positioning (for example, the sidelink positioning method for a single Anchor UE or multiple Anchor UEs) is the sidelink positioning method for a single Anchor UE.

Wherein, the specific method of sidelink positioning used by the target terminal may be determined according to the rules pre-configured or indicated by the network side device, or determined according to the rules stipulated in the protocol, or determined by the target terminal itself.

Step 4: The target terminal sends first information related to sidelink positioning to other terminals.

Specifically, in the case that the target terminal has established a PC5 unicast link with other terminals, the target terminal sends the first information related to side link positioning to the other terminals. When the target terminal has not established a PC5 unicast link with other terminals, the target terminal can first initiate the process of establishing a PC5 unicast link with other terminals to other terminals. After the establishment process of the PC5 unicast link, the target terminal sends the first information related to sidelink positioning to other terminals.

When the target terminal sends the first information related to sidelink positioning to other terminals, it may be implemented in at least one of the following ways:

Send the first information through the UE Capability Inquiry Sidelink message;

sending the first information through the RRC Reconfiguration Sidelink message;

Send the first information through the Link Identifier Update Request message;

Send the first information through the Link Identifier Update Ack message;

sending the first information through a Disconnect Request message;

sending the first information through a Link Modification Request message;

Sending the first information through a Keep-alive message;

sending the first information through a newly defined PC5-RRC message;

The first information is sent through a newly defined PC5-S message.

Optionally, when the target terminal sends the first information related to sidelink positioning to other terminals, it may also send a first request incidentally, where the first request is used to request the first information related to sidelink positioning of a single-anchor terminal. Two information. The second information includes at least one of location information of the anchor terminal and configuration information of the sidelink PRS, and the configuration information of the sidelink PRS includes at least one of a sending period of the sidelink PRS and a first sending time of the sidelink PRS.

Step 5: Other terminals send feedback information to the target terminal.

Specifically, after receiving the first information from the target terminal, other terminals can determine whether to send feedback information to the target terminal according to certain rules (for example, whether the "requirements for other terminals" in the received first information are met). terminal. If necessary, other terminals send feedback information to the target terminal, and if not necessary, do not send feedback information to the target terminal. In this embodiment, sending feedback information is taken as an example for description.

When other terminals send feedback information to the target terminal, it may be implemented in at least one of the following ways:

In the case of receiving the first message through the UE Capability Inquiry Sidelink message, send feedback information to the target terminal through the UECapability Information Sidelink message;

In the case of receiving the first message through the RRC Reconfiguration Sidelink, send feedback information to the target terminal through the RRCReconfiguration Complete Sidelink message;

In the case of receiving the first message through the Link Identifier Update Request message, send feedback information to the target terminal through the LinkIdentifier Update Response message;

In the case of receiving the first message through the Link Identifier Update Ack message, send feedback information to the target terminal through the newly defined PC5-S message;

In the case of receiving the first message through the Disconnect Request message, send feedback information to the target terminal through the DisconnectResponse message;

In the case of receiving the first message through the Link Modification Request message, send feedback information to the target terminal through the LinkModification Accept message;

In the case of receiving the first message through the Keep-alive message, sending feedback information to the target terminal through the Keep-alive Ack message;

In the case of receiving the first message through the newly defined PC5-RRC message, sending feedback information to the target terminal through the newly defined PC5-RRC message;

When the first message is received through the newly defined PC5-S message, the feedback information is sent to the target terminal through the newly defined PC5-S message.

Optionally, if in step 4 above, when the target terminal sends the first information related to sidelink positioning to other terminals, it also sends the first request incidentally, then when other terminals send feedback information to the target terminal, Second information related to sidelink positioning of the single-anchor terminal may also be sent.

Step 6: The target terminal selects the anchor terminal from other terminals according to the received feedback information.

After performing step 6, if in the above step 4, the target terminal does not send the first request incidentally when sending the first information related to sidelink positioning to other terminals, it needs to perform steps 7 to 8, otherwise it can Skip steps 7 and 8 and go to step 9.

Step 7: The target terminal sends a first request to the anchor terminal, and the first request is used to request second information related to sidelink positioning of a single anchor terminal.

When the target terminal sends the first request to the anchor terminal, it may be implemented in at least one of the following ways:

Send the first request through the UE Capability Inquiry Sidelink message;

Send the first request through the RRC Reconfiguration Sidelink message;

Send the first request through a Link Identifier Update Request message;

Send the first request through a Link Identifier Update Ack message;

Sending the first request through a Disconnect Request message;

Sending the first request through a Link Modification Request message;

Send the first request through the Keep-alive message;

Sending the first request through a newly defined PC5-RRC message;

The first request is sent through the newly defined PC5-S message.

Step 8: After receiving the first request, the anchor terminal determines second information related to sidelink positioning of the single anchor terminal, and sends the second information to the target terminal.

When the anchor terminal sends the second information to the target terminal, it may be implemented in at least one of the following ways:

In the case of receiving the first request through the UE Capability Inquiry Sidelink message, sending the second information to the target terminal through the UECapability Information Sidelink message;

In the case of receiving the first request through the RRC Reconfiguration Sidelink message, sending the second information to the target terminal through the RRCReconfiguration Complete Sidelink message;

In the case of receiving the first request through the Link Identifier Update Request message, sending the second information to the target terminal through the LinkIdentifier Update Response message;

In the case of receiving the first request through the Link Identifier Update Ack message, sending the second information to the target terminal through the newly defined PC5-S message;

In the case of receiving the first request through the Disconnect Request message, sending the second information to the target terminal through the DisconnectResponse message;

In the case of receiving the first request through the Link Modification Request message, sending the second information to the target terminal through the LinkModification Accept message;

In the case of receiving the first request through the Keep-alive message, sending the second information to the target terminal through the Keep-alive Ack message;

In the case of receiving the first request through the newly defined PC5-RRC message, sending the second information to the target terminal through the newly defined PC5-RRC message;

When the first request is received through the newly defined PC5-S message, the second information is sent to the target terminal through the newly defined PC5-S message.

Step 9: After receiving the second information, the target terminal performs positioning measurement, including measuring the time when the sidelink PRS is received multiple times (for example, 3 times), and the distance traveled by the target terminal within the adjacent time period of receiving the sidelink PRS ( Such as D1 and D2 shown in Figure 2).

Step 10: The target terminal determines the location information.

Specifically, if the positioning result is calculated by the target terminal, then the target terminal calculates the location information of the target terminal based on the location information of the anchor terminal, the time value of receiving sidelink PRS multiple times, and multiple driving distance values (for example, 2).

If the positioning result is calculated by the network, then the target terminal sends information such as the location information of the anchor terminal, the time value at which sidelink PRS has been received multiple times, and multiple driving distance values (for example, 2) to the network side device, and the network side device receives After receiving information such as the location information of the anchor terminal sent by the target terminal, the time value of the sidelink PRS multiple times, and multiple driving distance values (for example, 2), calculate the positioning result of the target terminal and send the positioning result to the target terminal.

For the specific implementation of the above steps 1 to 10, refer to the specific implementation of the corresponding steps in the embodiment shown in FIG. 3 and FIG. 4 , which will not be repeated here.

The embodiment of the present application provides a detailed positioning process for locating a target terminal based on a sidelink positioning method based on a single-anchor terminal. When the target terminal has a positioning requirement, the target terminal can obtain the location information of the target terminal based on the positioning process.

It should be noted that, for the positioning method provided in the embodiment of the present application, the execution subject may be a positioning device, or a control module in the positioning device for executing the positioning method. In the embodiment of the present application, the positioning device provided in the embodiment of the present application is described by taking the positioning device executing the positioning method as an example.

Fig. 5 is a schematic structural diagram of a positioning device according to an embodiment of the present application, and the device may correspond to a target terminal in other embodiments. As shown in FIG. 5 , the device 500 includes the following modules.

A positioning module 501, configured to determine the location information of the target terminal according to the second information from the anchor terminal;

Wherein, the second information is related to single-anchor terminal sidelink positioning.

Optionally, as an embodiment, the apparatus 500 further includes a sending module 502, a receiving module 503, and a determining module 504:

The sending module 502 is configured to send first information related to sidelink positioning to other terminals;

The receiving module 503 is configured to receive feedback information from the other terminals;

The determining module 504 is configured to determine the anchor terminal from the other terminals according to the feedback information.

Optionally, as an embodiment, the sending module 502 is used for at least one of the following:

When the target terminal has established a PC5 unicast link with the other terminal, the target terminal sends first information related to sidelink positioning to the other terminal;

In the case that the target terminal has not established a PC5 unicast link with the other terminal, the target terminal initiates a process of establishing a PC5 unicast link with the other terminal to the other terminal; During the link establishment process or after the PC5 unicast link establishment process, the target terminal sends the first information related to sidelink positioning to the other terminals.

Optionally, as an embodiment, the sending module 502 is used for at least one of the following:

sending the first message to the other terminal through a terminal capability query sidelink message;

sending the first message to the other terminal through a radio resource control RRC reconfiguration sidelink message;

sending the first message to the other terminal through a link identifier update request message;

sending the first message to the other terminal through a link identifier update confirmation message;

sending the first message to the other terminal through a disconnection request message;

sending the first message to the other terminal through a link modification request message;

sending the first message to the other terminal through a keepalive message;

sending the first message to the other terminal through a newly defined PC5-RRC message;

The first message is sent to the other terminal through a newly defined PC5-signaling message.

Optionally, as an embodiment, the receiving module 503 is used for at least one of the following:

When the target terminal sends the first message to the other terminal through a terminal capability query sidelink message, receive the feedback information through a terminal capability information sidelink message;

When the target terminal sends the first message to the other terminal through an RRC reconfiguration sidelink message, receiving the feedback information through an RRC reconfiguration complete sidelink message;

When the target terminal sends the first message to the other terminal through a link identifier update request message, receive the feedback information through a link identifier update response message;

When the target terminal sends the first message to the other terminal through a link identifier update confirmation message, receive the feedback information through a newly defined PC5-signaling message;

When the target terminal sends the first message to the other terminal through a disconnection request message, receive the feedback information through a disconnection response message;

When the target terminal sends the first message to the other terminal through a link modification request message, receive the feedback information through a link modification accept message;

When the target terminal sends the first message to the other terminal through a keep-alive message, receive the feedback information through a keep-alive confirmation message;

When the target terminal sends the first message to the other terminal through a newly defined PC5-RRC message, receive the feedback information through a newly defined PC5-RRC message;

When the target terminal sends the first message to the other terminal through the newly defined PC5-signaling message, the feedback information is received through the newly defined PC5-signaling message.

Optionally, as an embodiment, the second information includes at least one of the following:

The location information of the anchor terminal;

configuration information of the sidelink positioning reference signal PRS;

Wherein, the configuration information of the sidelink PRS includes at least one of the following: a sending cycle of the sidelink PRS; and a first sending time of the sidelink PRS.

Optionally, as an embodiment, the sending module 502 is also configured to:

sending a first request to the other terminal, where the first request is used to request the second information;

Wherein, the receiving module is also used for:

receiving the second information from the other terminal.

Optionally, as an embodiment, the sending module 502 is further configured to send the first request to the anchor terminal;

The receiving module 503 is further configured to receive the second information from the anchor terminal.

Optionally, as an embodiment, the sending module 502 is also used for at least one of the following:

sending the first request to the anchor terminal through a terminal capability query sidelink message;

sending the first request to the anchor terminal through an RRC reconfiguration sidelink message;

sending the first request to the anchor terminal through a link identifier update request message;

sending the first request to the anchor terminal through a link identifier update confirmation message;

sending the first request to the anchor terminal through a disconnection request message;

sending the first request to the anchor terminal through a link modification request message;

sending the first request to the anchor terminal through a keepalive message;

sending the first request to the anchor terminal through a newly defined PC5-RRC message;

The first request is sent to the anchor terminal through a newly defined PC5-signaling message.

Optionally, as an embodiment, the receiving module 503 is also used for at least one of the following:

In the case where the first request is sent to the anchor terminal through a terminal capability query sidelink message, receiving the second information through a terminal capability information sidelink message;

In the case where the first request is sent to the anchor terminal through an RRC reconfiguration sidelink message, receiving the second information through an RRC reconfiguration complete sidelink message;

In the case where the first request is sent to the anchor terminal through a link identifier update request message, receiving the second information through a link identifier update response message;

In the case of sending the first request to the anchor terminal through a link identifier update confirmation message, receiving the second information through a newly defined PC5-signaling message;

receiving the second information through a disconnection response message in a case where the first request is sent to the anchor terminal through a disconnection request message;

In the case where the first request is sent to the anchor terminal through a link modification request message, receiving the second information through a link modification accept message;

In the case of sending the first request to the anchor terminal through a keep-alive message, receiving the second information through a keep-alive confirmation message;

When sending the first request to the anchor terminal through a newly defined PC5-RRC message, receive the second information through a newly defined PC5-RRC message;

In a case where the first request is sent to the anchor terminal through a newly defined PC5-signaling message, the second information is received through a newly defined PC5-signaling message.

Optionally, as an embodiment, the determining module 504 is also used for at least one of the following:

receiving a sidelink PRS from the anchor terminal;

Measuring the moment when the sidelink PRS is received multiple times and the multiple first distances traveled by the target terminal within multiple first time periods, the first time period is when the target terminal receives two adjacent PRS the time period between the instants of the sidelink PRS;

Determine the location information of the target terminal according to the location information of the anchor terminal, the times at which sidelink PRSs are received multiple times, and the multiple first distances.

The device 500 according to the embodiment of the present application can refer to the process of the method 300 corresponding to the embodiment of the present application, and each unit/module in the device 500 and the above-mentioned other operations and/or functions are respectively in order to realize the corresponding process in the method 300, And can achieve the same or equivalent technical effect, for the sake of brevity, no more details are given here.

Fig. 6 is a schematic structural diagram of a positioning device according to an embodiment of the present application, and the device may correspond to the first terminal in other embodiments. As shown in FIG. 6 , the device 600 includes the following modules.

A sending module 601, configured to send second information related to sidelink positioning of a single-anchor terminal to the target terminal;

Wherein, when the first terminal is an anchor terminal, the second information is used by the target terminal to determine the location information of the target terminal.

Optionally, as an embodiment, the device 600 further includes a receiving module 602;

The receiving module 602 is configured to receive first information related to sidelink positioning from the target terminal;

The sending module 601 is further configured to send feedback information to the target terminal;

Wherein, the target terminal is configured to determine the anchor terminal from the multiple first terminals according to the feedback information from the multiple first terminals.

Optionally, as an embodiment, the receiving module 602 is also used for at least one of the following:

When the first terminal has established a PC5 unicast link with the target terminal, the first terminal receives first information related to sidelink positioning from the target terminal;

In the case that the first terminal has not established a PC5 unicast link with the target terminal, during or after the establishment of the PC5 unicast link, the first terminal receives First information related to sidelink positioning from the target terminal, and the establishment process of the PC5 unicast link is initiated by the target terminal.

Optionally, as an embodiment, the receiving module 602 is also used for at least one of the following:

receiving the first message through a terminal capability query sidelink message;

receiving the first message through an RRC reconfiguration sidelink message;

receiving the first message via a Link Identifier Update Request message;

receiving said first message via a Link Identifier Update Confirmation message;

receiving said first message via a disconnection request message;

receiving the first message via a link modification request message;

receiving the first message via a keepalive message;

receiving the first message through a newly defined PC5-RRC message;

The first message is received through a newly defined PC5-signaling message.

Optionally, as an embodiment, the sending module 601 is also used for at least one of the following:

In the case of receiving the first message through a terminal capability query sidelink message, sending the feedback information to the target terminal through a terminal capability information sidelink message;

In the case of receiving the first message through an RRC reconfiguration sidelink message, sending the feedback information to the target terminal through an RRC reconfiguration complete sidelink message;

In the case of receiving the first message through a link identifier update request message, sending the feedback information to the target terminal through a link identifier update response message;

In the case of receiving the first message through a link identifier update confirmation message, sending the feedback information to the target terminal through a newly defined PC5-signaling message;

In the case of receiving the first message through a disconnection request message, sending the feedback information to the target terminal through a disconnection response message;

In the case of receiving the first message through a link modification request message, sending the feedback information to the target terminal through a link modification acceptance message;

In the case of receiving the first message through a keep-alive message, sending the feedback information to the target terminal through a keep-alive confirmation message;

In the case of receiving the first message through a newly defined PC5-RRC message, sending the feedback information to the target terminal through a newly defined PC5-RRC message;

When the first message is received through a newly defined PC5-signaling message, the feedback information is sent to the target terminal through a newly defined PC5-signaling message.

Optionally, as an embodiment, the sending module 601 is configured to:

When receiving the first information related to sidelink positioning from the target terminal, the first terminal receives a first request from the target terminal, where the first request is used to request information related to sidelink positioning of a single-anchor terminal the second information of

When sending feedback information to the target terminal, send the second information to the target terminal.

Optionally, as an embodiment, the second information includes at least one of the following:

location information of the first terminal;

configuration information of the sidelink positioning reference signal PRS;

Wherein, the configuration information of the sidelink PRS includes at least one of the following: a sending cycle of the sidelink PRS; and a first sending time of the sidelink PRS.

Optionally, as an embodiment, the receiving module 602 is further configured to, when the first terminal is an anchor terminal, after the sending module sends the feedback information to the target terminal, receive said first request from said target terminal;

The sending module 601 is further configured to send the second information to the target terminal.

Optionally, as an embodiment, the receiving module 602 is also used for at least one of the following:

receiving the first request through a terminal capability query sidelink message;

receiving the first request through a radio resource control RRC reconfiguration sidelink message;

receiving the first request via a Link Identifier Update Request message;

receiving the first request via a link identifier update confirmation message;

receiving said first request via a disconnect request message;

receiving the first request via a link modification request message;

receiving the first request via a keepalive message;

receiving the first request through a newly defined PC5-RRC message;

The first request is received through a newly defined PC5-signalling message.

Optionally, as an embodiment, the sending module 601 is also used for at least one of the following:

In the case of receiving the first request through a terminal capability query sidelink message, sending the second information to the target terminal through a terminal capability information sidelink message;

In the case of receiving the first request through an RRC reconfiguration sidelink message, sending the second information to the target terminal through an RRC reconfiguration complete sidelink message;

In the case of receiving the first request through a link identifier update request message, sending the second information to the target terminal through a link identifier update response message;

In the case of receiving the first request through a link identifier update confirmation message, sending the second information to the target terminal through a newly defined PC5-signaling message;

In the case of receiving the first request through a disconnection request message, sending the second information to the target terminal through a disconnection response message;

In the case of receiving the first request through a link modification request message, sending the second information to the target terminal through a link modification acceptance message;

In the case of receiving the first request through a keep-alive message, sending the second information to the target terminal through a keep-alive confirmation message;

In the case of receiving the first request through a newly defined PC5-RRC message, sending the second information to the target terminal through a newly defined PC5-RRC message;

If the first request is received through a newly defined PC5-signaling message, the second information is sent to the target terminal through a newly defined PC5-signaling message.

Optionally, as an embodiment, the sending module 601 is also configured to:

Sending a sidelink PRS to the target terminal according to the configuration information of the sidelink PRS included in the second information, where the target terminal is used to determine the location information of the target terminal according to the sidelink PRS.

The device 600 according to the embodiment of the present application can refer to the process of the method 400 corresponding to the embodiment of the present application, and each unit/module in the device 600 and the above-mentioned other operations and/or functions are respectively in order to realize the corresponding process in the method 400, And can achieve the same or equivalent technical effect, for the sake of brevity, no more details are given here.

The positioning device in the embodiment of the present application may be a device, a device with an operating system or an electronic device, or a component, an integrated circuit, or a chip in a terminal. The apparatus or electronic equipment may be a mobile terminal or a non-mobile terminal. Exemplarily, the mobile terminal may include but not limited to the types of terminal 11 listed above, and the non-mobile terminal may be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (personal computer, PC), a television (television , TV), teller machines or self-service machines, etc., are not specifically limited in this embodiment of the present application.

The positioning device provided by the embodiment of the present application can realize various processes realized by the method embodiments in FIG. 3 to FIG. 4 and achieve the same technical effect. To avoid repetition, details are not repeated here.

Optionally, as shown in FIG. 7 , the embodiment of the present application further provides a communication device 700, including a processor 701, a memory 702, and programs or instructions stored in the memory 702 and operable on the processor 701, For example, when the communication device 700 is a target terminal, when the program or instruction is executed by the processor 701, each process of the above positioning method embodiment can be realized, and the same technical effect can be achieved. When the communication device 700 is the first terminal, when the program or instruction is executed by the processor 701, each process of the positioning method embodiment described above can be achieved, and the same technical effect can be achieved. To avoid repetition, details are not repeated here.

The embodiment of the present application also provides a terminal, including a processor and a communication interface. When the terminal is a target terminal, the processor is configured to determine the location information of the target terminal according to the second information from the anchor terminal; wherein, The second information is related to sidelink positioning of the single-anchor terminal. In the case where the terminal is the first terminal, the communication interface is used to send to the target terminal second information related to sidelink positioning of the single-anchor terminal; wherein, in the case where the first terminal is the anchor terminal, the The second information is used by the target terminal to determine the location information of the target terminal. This terminal embodiment corresponds to the above-mentioned terminal-side method embodiment, and each implementation process and implementation mode of the above-mentioned method embodiment can be applied to this terminal embodiment, and can achieve the same technical effect. Specifically, FIG. 8 is a schematic diagram of a hardware structure of a terminal implementing an embodiment of the present application.

The terminal 800 includes but is not limited to: a radio frequency unit 801, a network module 802, an audio output unit 803, an input unit 804, a sensor 805, a display unit 806, a user input unit 807, an interface unit 808, a memory 809, and a processor 810, etc. at least some of the components.

Those skilled in the art can understand that the terminal 800 may also include a power supply (such as a battery) for supplying power to various components, and the power supply may be logically connected to the processor 810 through the power management system, so as to manage charging, discharging, and power consumption through the power management system. Management and other functions. The terminal structure shown in FIG. 8 does not constitute a limitation on the terminal, and the terminal may include more or fewer components than shown in the figure, or combine some components, or arrange different components, which will not be repeated here.

It should be understood that, in the embodiment of the present application, the input unit 804 may include a graphics processor (Graphics Processing Unit, GPU) 8041 and a microphone 8042, and the graphics processor 8041 is compatible with the image capture device (such as Camera) to process the image data of still pictures or videos. The display unit 806 may include a display panel 8061, and the display panel 8061 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit 807 includes a touch panel 8071 and other input devices 8072 . The touch panel 8071 is also called a touch screen. The touch panel 8071 may include two parts, a touch detection device and a touch controller. Other input devices 8072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, switch buttons, etc.), trackballs, mice, and joysticks, which will not be repeated here.

In the embodiment of the present application, the radio frequency unit 801 receives the downlink data from the network side device, and processes it to the processor 810; in addition, sends the uplink data to the network side device. Generally, the radio frequency unit 801 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like.

The memory 809 can be used to store software programs or instructions as well as various data. The memory 809 may mainly include a program or instruction storage area and a data storage area, wherein the program or instruction storage area may store an operating system, an application program or instructions required by at least one function (such as a sound playback function, an image playback function, etc.) and the like. In addition, the memory 809 may include a high-speed random access memory, and may also include a non-volatile memory, wherein the non-volatile memory may be a read-only memory (Read-Only Memory, ROM), a programmable read-only memory (Programmable ROM) , PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically erasable programmable read-only memory (Electrically EPROM, EEPROM) or flash memory. For example at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device.

The processor 810 may include one or more processing units; optionally, the processor 810 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, application programs or instructions, etc., Modem processors mainly handle wireless communications, such as baseband processors. It can be understood that the foregoing modem processor may not be integrated into the processor 810 .

Wherein, when the terminal is a target terminal, the processor 810 is configured to determine the location information of the target terminal according to the second information from the anchor terminal; wherein, the second information is side-chained with a single anchor terminal related to road positioning.

In the case where the terminal is the first terminal, the radio frequency unit 801 is configured to send to the target terminal second information related to sidelink positioning of the single-anchor terminal; wherein, in the case where the first terminal is the anchor terminal , the second information is used by the target terminal to determine location information of the target terminal.

The embodiment of the present application provides a detailed positioning process for locating a target terminal based on a sidelink positioning method based on a single-anchor terminal. When the target terminal has a positioning requirement, the target terminal can obtain the location information of the target terminal based on the positioning process.

The terminal 800 provided in the embodiment of the present application can also implement various processes in the above embodiments of the positioning method, and can achieve the same technical effect. To avoid repetition, details are not repeated here.

The embodiment of the present application also provides a readable storage medium, the readable storage medium may be volatile or non-volatile, and a program or instruction is stored on the readable storage medium, the program or When the instructions are executed by the processor, each process of the positioning method embodiment described above can be realized, and the same technical effect can be achieved. To avoid repetition, details are not repeated here.

Wherein, the processor is the processor in the terminal described in the foregoing embodiments. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and the like.

The embodiment of the present application further provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement each of the above positioning method embodiments process, and can achieve the same technical effect, in order to avoid repetition, it will not be repeated here.

It should be understood that the chip mentioned in the embodiment of the present application may also be called a system-on-chip, a system-on-chip, a system-on-a-chip, or a system-on-a-chip.

The embodiment of the present application further provides a computer program/program product, the computer program/program product is stored in a non-transitory readable storage medium, and the computer program/program product is executed by at least one processor to realize The various processes of the above embodiments of the positioning method can achieve the same technical effect, and will not be repeated here to avoid repetition.

It should be noted that, in this document, the term "comprising", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising that element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved. Functions are performed, for example, the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on such an understanding, the technical solution of the present application can be embodied in the form of computer software products, which are stored in a storage medium (such as ROM/RAM, magnetic disk, etc.) , CD-ROM), including several instructions to make a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the methods described in the various embodiments of the present application.

The embodiments of the present application have been described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementations. The above-mentioned specific implementations are only illustrative and not restrictive. Those of ordinary skill in the art will Under the inspiration of this application, without departing from the purpose of this application and the scope of protection of the claims, many forms can also be made, all of which belong to the protection of this application.

Claims (40)

1. A method of positioning, comprising:

the target terminal determines the position information of the target terminal according to the second information from the anchor point terminal;

wherein the second information relates to single anchor point terminal side link positioning.

2. The method of claim 1, wherein before a target terminal determines location information of the target terminal according to second information from an anchor terminal, the method further comprises:

the target terminal sends first information related to the side link positioning to other terminals;

receiving feedback information from other terminals;

and determining the anchor point terminal from the other terminals according to the feedback information.

3. The method of claim 2, wherein the target terminal sends first information related to sidelink location to the other terminal, and wherein the first information comprises at least one of:

under the condition that the target terminal and the other terminals establish PC5 unicast links, the target terminal sends first information related to side link positioning to the other terminals;

under the condition that the target terminal and the other terminals do not establish the PC5 unicast link, the target terminal initiates the establishment process of the PC5 unicast link with the other terminals to the other terminals; and in the establishment process of the PC5 unicast link or after the establishment process of the PC5 unicast link, the target terminal sends first information related to the side link positioning to the other terminals.

4. The method of claim 2, wherein the target terminal sends first information related to sidelink location to the other terminal, and wherein the first information comprises at least one of:

sending the first message to the other terminals through a terminal capability query sidelink message;

sending the first message to the other terminals through a Radio Resource Control (RRC) reconfiguration sidelink message;

sending the first message to the other terminal through a link identifier update request message;

sending the first message to the other terminal through a link identifier update confirmation message;

sending the first message to the other terminal through a disconnection request message;

sending the first message to the other terminals through a link modification request message;

sending the first message to the other terminal through a keep-alive message;

sending the first message to the other terminals through newly defined PC5-RRC messages;

sending the first message to the other terminal via a newly defined PC 5-signaling message.

5. The method of claim 4, wherein receiving feedback information from the other terminals comprises at least one of:

receiving the feedback information through a terminal capability information sidelink message under the condition that the target terminal sends the first message to the other terminals through a terminal capability inquiry sidelink message;

under the condition that the target terminal sends the first message to the other terminals through the RRC reconfiguration sidelink message, the feedback information is received through the RRC reconfiguration finished sidelink message;

receiving the feedback information through a link identifier update response message under the condition that the target terminal sends the first message to the other terminals through a link identifier update request message;

receiving the feedback information through a newly defined PC 5-signaling message under the condition that the target terminal sends the first message to the other terminals through a link identifier update confirmation message;

receiving the feedback information through a disconnection response message under the condition that the target terminal sends the first message to the other terminals through a disconnection request message;

receiving the feedback information through a link modification acceptance message under the condition that the target terminal sends the first message to the other terminals through a link modification request message;

receiving the feedback information through a keep-connect acknowledgement message under the condition that the target terminal sends the first message to the other terminals through a keep-connect message;

receiving the feedback information through a newly defined PC5-RRC message under the condition that the target terminal sends the first message to the other terminals through the newly defined PC5-RRC message;

and under the condition that the target terminal sends the first message to the other terminals through the newly defined PC 5-signaling message, receiving the feedback information through the newly defined PC 5-signaling message.

6. The method of claim 1, wherein the second information comprises at least one of:

location information of the anchor point terminal;

configuration information of a sidelink Positioning Reference Signal (PRS);

wherein the configuration information of the side link PRS comprises at least one of: a sending period of the side link PRS; the first transmission instant of the sidelink PRS.

7. The method of claim 2, wherein when a target terminal sends the first information to other terminals, the method further comprises:

sending a first request to the other terminal, wherein the first request is used for requesting the second information;

wherein, when receiving the feedback information from the other terminals, the method further comprises:

receiving the second information from the other terminal.

8. The method of claim 7, wherein if the target terminal does not send the first request to the other terminal when sending the first information to the other terminal, after determining the anchor terminal, the method further comprises:

sending the first request to the anchor point terminal;

and receiving the second information from the anchor point terminal.

9. The method of claim 8, wherein sending the first request to the anchor terminal comprises at least one of:

sending the first request to the anchor point terminal through a terminal capability query side link message;

sending the first request to the anchor point terminal through an RRC reconfiguration sidelink message;

sending the first request to the anchor terminal through a link identifier update request message;

sending the first request to the anchor terminal through a link identifier update confirmation message;

sending the first request to the anchor point terminal through a disconnection request message;

transmitting the first request to the anchor terminal through a link modification request message;

sending the first request to the anchor terminal through a keep-alive message;

sending the first request to the anchor terminal through a newly defined PC5-RRC message;

and sending the first request to the anchor point terminal through a newly defined PC 5-signaling message.

10. The method of claim 9, wherein receiving the second information from the anchor terminal comprises at least one of:

receiving the second information through a terminal capability information sidelink message under the condition that the first request is sent to the anchor point terminal through a terminal capability inquiry sidelink message;

under the condition that the first request is sent to the anchor point terminal through the RRC reconfiguration sidelink message, the second information is received through the RRC reconfiguration completion sidelink message;

receiving the second information through a link identifier update response message in a case where the first request is transmitted to the anchor terminal through a link identifier update request message;

receiving the second information through a newly defined PC 5-signaling message in a case where the first request is transmitted to the anchor terminal through a link identifier update confirm message;

receiving the second information through a disconnection response message in a case where the first request is transmitted to the anchor terminal through a disconnection request message;

receiving the second information through a link modification acceptance message under the condition that the first request is sent to the anchor point terminal through a link modification request message;

receiving the second information through a keep-connect acknowledgement message in case the first request is transmitted to the anchor terminal through a keep-connect message;

receiving the second information through a newly defined PC5-RRC message in case that the first request is transmitted to the anchor terminal through the newly defined PC5-RRC message;

receiving the second information through a newly defined PC 5-signaling message in case the first request is sent to the anchor terminal through the newly defined PC 5-signaling message.

11. The method of claim 1, wherein a target terminal determines location information of the target terminal according to second information from the anchor terminal, and wherein the determining comprises at least one of:

receiving a side link PRS from the anchor point terminal;

measuring a time when the side link PRS is received for multiple times and a plurality of first distances traveled by the target terminal within a plurality of first time periods, wherein the first time period is a time period between the time when the target terminal receives two adjacent side link PRSs;

and determining the position information of the target terminal according to the position information of the anchor point terminal, the time of receiving the side link PRS for multiple times and the first distances.

12. A method of positioning, comprising:

the first terminal sends second information related to single anchor point terminal side link positioning to the target terminal;

and when the first terminal is an anchor terminal, the second information is used for the target terminal to determine the position information of the target terminal.

13. The method of claim 12, wherein the first terminal sends the second information related to single anchor terminal side link positioning to the target terminal, and wherein the method further comprises:

the first terminal receives first information related to side link positioning from a target terminal;

sending feedback information to the target terminal;

the target terminal is used for determining an anchor point terminal from the plurality of first terminals according to feedback information from the plurality of first terminals.

14. The method of claim 13, wherein the first terminal receives first information related to sidelink location from the target terminal, comprising at least one of:

under the condition that the first terminal and the target terminal establish a PC5 unicast link, the first terminal receives first information related to side link positioning from the target terminal;

under the condition that the first terminal and the target terminal do not establish the PC5 unicast link, the first terminal receives first information related to side link positioning from the target terminal in the establishment process of the PC5 unicast link or after the establishment process of the PC5 unicast link, and the establishment process of the PC5 unicast link is initiated by the target terminal.

15. The method of claim 13, wherein the first terminal receives first information related to sidelink location from the target terminal, comprising at least one of:

receiving the first message through a terminal capability query sidelink message;

receiving the first message through an RRC reconfiguration sidelink message;

receiving the first message through a link identifier update request message;

receiving the first message through a link identifier update confirmation message;

receiving the first message through a disconnection request message;

receiving the first message through a link modification request message;

receiving the first message through a keep-alive message;

receiving the first message through a newly defined PC5-RRC message;

the first message is received via a newly defined PC 5-signaling message.

16. The method of claim 15, wherein sending feedback information to the target terminal comprises at least one of:

sending the feedback information to the target terminal through a terminal capability information sidelink message under the condition that the first message is received through a terminal capability inquiry sidelink message;

under the condition that the first message is received through the RRC reconfiguration sidelink message, the feedback information is sent to the target terminal through the RRC reconfiguration completion sidelink message;

transmitting the feedback information to the target terminal through a link identifier update response message in a case where the first message is received through a link identifier update request message;

transmitting the feedback information to the target terminal through a newly defined PC 5-signaling message under the condition that the first message is received through a link identifier update confirmation message;

transmitting the feedback information to the target terminal through a disconnection response message in case of receiving the first message through a disconnection request message;

transmitting the feedback information to the target terminal through a link modification acceptance message under the condition that the first message is received through a link modification request message;

transmitting the feedback information to the target terminal through a keep-alive confirm message in case of receiving the first message through a keep-alive message;

transmitting the feedback information to the target terminal through a newly defined PC5-RRC message, in case of receiving the first message through the newly defined PC5-RRC message;

and under the condition that the first message is received through the newly defined PC 5-signaling message, sending the feedback information to the target terminal through the newly defined PC 5-signaling message.

17. The method of claim 13, wherein the first terminal sends second information related to single anchor point terminal side link positioning to the target terminal, comprising:

the method comprises the steps that when a first terminal receives first information which is related to sidelink positioning and is from a target terminal, a first request which is used for requesting second information which is related to the sidelink positioning of a single anchor point terminal is received from the target terminal;

and when the feedback information is sent to the target terminal, sending the second information to the target terminal.

18. The method of claim 17, wherein the second information comprises at least one of:

location information of the first terminal;

configuration information of a sidelink Positioning Reference Signal (PRS);

wherein the configuration information of the sidelink PRS comprises at least one of: a sending period of the side link PRS; the first transmission instant of the sidelink PRS.

19. The method of claim 17, wherein if the first terminal does not receive the first request while receiving the first information, the first terminal sends second information related to single anchor point terminal side link positioning to the target terminal, comprising:

under the condition that the first terminal is an anchor point terminal, after the feedback information is sent to the target terminal, receiving the first request from the target terminal;

and sending the second information to the target terminal.

20. The method of claim 19, wherein receiving the first request from the target terminal comprises at least one of:

receiving the first request through a terminal capability query sidelink message;

receiving the first request through a radio resource control, RRC, reconfiguration sidelink message;

receiving the first request through a link identifier update request message;

receiving the first request through a link identifier update confirm message;

receiving the first request through a disconnect request message;

receiving the first request through a link modification request message;

receiving the first request through a keep-alive message;

receiving the first request through a newly defined PC5-RRC message;

the first request is received via a newly defined PC 5-signaling message.

21. The method of claim 20, wherein sending the second information to the target terminal comprises at least one of:

under the condition that the first request is received through a terminal capacity query sidelink message, the second information is sent to the target terminal through a terminal capacity information sidelink message;

under the condition that the first request is received through an RRC reconfiguration sidelink message, the second information is sent to the target terminal through the RRC reconfiguration completion sidelink message;

transmitting the second information to the target terminal through a link identifier update response message in a case where the first request is received through a link identifier update request message;

transmitting the second information to the target terminal through a newly defined PC 5-signaling message in case of receiving the first request through a link identifier update confirm message;

transmitting the second information to the target terminal through a disconnection response message in case of receiving the first request through a disconnection request message;

transmitting the second information to the target terminal through a link modification acceptance message in a case where the first request is received through a link modification request message;

transmitting the second information to the target terminal through a keep-alive confirm message in case of receiving the first request through a keep-alive message;

transmitting the second information to the target terminal through a newly defined PC5-RRC message in case of receiving the first request through the newly defined PC5-RRC message;

sending the second information to the target terminal via a newly defined PC 5-signaling message, in case the first request is received via a newly defined PC 5-signaling message.

22. The method of claim 12, wherein after the first terminal sends the second information to the target terminal, the method further comprises:

and sending a side link PRS to the target terminal according to the configuration information of the side link PRS included in the second information, wherein the target terminal is used for determining the position information of the target terminal according to the side link PRS.

23. A positioning device, comprising:

the positioning module is used for determining the position information of the target terminal according to the second information from the anchor point terminal;

wherein the second information relates to single anchor point terminal side link positioning.

24. The apparatus of claim 1, further comprising a sending module, a receiving module, and a determining module:

the sending module is used for sending first information related to the sidelink positioning to other terminals;

the receiving module is used for receiving feedback information from the other terminals;

the determining module is configured to determine the anchor point terminal from the other terminals according to the feedback information.

25. The apparatus of claim 24, wherein the sending module is configured to at least one of:

sending the first message to the other terminals through a terminal capability query sidelink message;

sending the first message to the other terminals through a Radio Resource Control (RRC) reconfiguration sidelink message;

sending the first message to the other terminal through a link identifier update request message;

transmitting the first message to the other terminal through a link identifier update confirm message;

sending the first message to the other terminal through a disconnection request message;

sending the first message to the other terminal through a link modification request message;

sending the first message to the other terminal through a keep-alive message;

sending the first message to the other terminal through a newly defined PC5-RRC message;

sending the first message to the other terminal via a newly defined PC 5-signaling message.

26. The apparatus of claim 25, wherein the receiving means is configured to at least one of:

receiving the feedback information through a terminal capability information sidelink message under the condition that the target terminal sends the first message to the other terminals through a terminal capability inquiry sidelink message;

under the condition that the target terminal sends the first message to the other terminals through the RRC reconfiguration sidelink message, the feedback information is received through the RRC reconfiguration finished sidelink message;

receiving the feedback information through a link identifier update response message under the condition that the target terminal sends the first message to the other terminals through a link identifier update request message;

receiving the feedback information through a newly defined PC 5-signaling message under the condition that the target terminal sends the first message to the other terminals through a link identifier update confirmation message;

receiving the feedback information through a disconnection response message under the condition that the target terminal sends the first message to the other terminals through a disconnection request message;

receiving the feedback information through a link modification acceptance message under the condition that the target terminal sends the first message to the other terminals through a link modification request message;

receiving the feedback information through a keep-alive confirm message under the condition that the target terminal sends the first message to the other terminals through a keep-alive message;

under the condition that the target terminal sends the first message to the other terminals through the newly defined PC5-RRC message, receiving the feedback information through the newly defined PC5-RRC message;

and under the condition that the target terminal sends the first message to the other terminals through the newly defined PC 5-signaling message, receiving the feedback information through the newly defined PC 5-signaling message.

27. The apparatus of claim 24, wherein the sending module is further configured to:

sending a first request to the other terminal, wherein the first request is used for requesting the second information;

wherein the receiving module is further configured to:

receiving the second information from the other terminal.

28. The apparatus of claim 27,

the sending module is further configured to send the first request to the anchor point terminal;

the receiving module is further configured to receive the second information from the anchor point terminal.

29. The apparatus of claim 28, wherein the sending module is further configured to at least one of:

sending the first request to the anchor point terminal through a terminal capability query sidelink message;

sending the first request to the anchor point terminal through an RRC reconfiguration sidelink message;

sending the first request to the anchor terminal through a link identifier update request message;

sending the first request to the anchor terminal through a link identifier update confirmation message;

sending the first request to the anchor point terminal through a disconnection request message;

transmitting the first request to the anchor terminal through a link modification request message;

sending the first request to the anchor terminal through a keep-alive message;

sending the first request to the anchor terminal through a newly defined PC5-RRC message;

and sending the first request to the anchor point terminal through a newly defined PC 5-signaling message.

30. The apparatus of claim 29, wherein the receiving module is further configured to at least one of:

receiving the second information through a terminal capability information sidelink message under the condition that the first request is sent to the anchor point terminal through a terminal capability inquiry sidelink message;

under the condition that the first request is sent to the anchor point terminal through the RRC reconfiguration sidelink message, the second information is received through the RRC reconfiguration completion sidelink message;

receiving the second information through a link identifier update response message in a case where the first request is transmitted to the anchor terminal through a link identifier update request message;

receiving the second information through a newly defined PC 5-signaling message in a case where the first request is transmitted to the anchor terminal through a link identifier update confirm message;

receiving the second information through a disconnection response message in a case where the first request is transmitted to the anchor terminal through a disconnection request message;

receiving the second information through a link modification acceptance message under the condition that the first request is sent to the anchor point terminal through a link modification request message;

receiving the second information through a keep-connect acknowledgement message in case the first request is transmitted to the anchor terminal through a keep-connect message;

receiving the second information through a newly defined PC5-RRC message in a case where the first request is transmitted to the anchor terminal through the newly defined PC5-RRC message;

and receiving the second information through a newly defined PC 5-signaling message under the condition that the first request is sent to the anchor point terminal through the newly defined PC 5-signaling message.

31. A positioning device, comprising:

the sending module is used for sending second information related to single anchor point terminal side link positioning to the target terminal;

and when the first terminal is an anchor terminal, the second information is used for the target terminal to determine the position information of the target terminal.

32. The apparatus of claim 31, further comprising a receiving module;

the receiving module is used for receiving first information related to the side link positioning from the target terminal;

the sending module is further configured to send feedback information to the target terminal;

the target terminal is used for determining an anchor point terminal from the plurality of first terminals according to feedback information from the plurality of first terminals.

33. The apparatus of claim 32, wherein the receiving module is further configured to at least one of:

receiving the first message through a terminal capability query sidelink message;

receiving the first message through an RRC reconfiguration sidelink message;

receiving the first message through a link identifier update request message;

receiving the first message through a link identifier update confirm message;

receiving the first message through a disconnection request message;

receiving the first message through a link modification request message;

receiving the first message through a keep-alive message;

receiving the first message through a newly defined PC5-RRC message;

the first message is received via a newly defined PC 5-signaling message.

34. The apparatus of claim 33, wherein the sending module is further configured to at least one of:

sending the feedback information to the target terminal through a terminal capability information sidelink message under the condition that the first message is received through a terminal capability inquiry sidelink message;

under the condition that the first message is received through the RRC reconfiguration sidelink message, the feedback information is sent to the target terminal through the RRC reconfiguration sidelink completion message;

transmitting the feedback information to the target terminal through a link identifier update response message in a case where the first message is received through a link identifier update request message;

sending the feedback information to the target terminal through a newly defined PC 5-signaling message under the condition that the first message is received through a link identifier update confirmation message;

transmitting the feedback information to the target terminal through a disconnection response message in case of receiving the first message through a disconnection request message;

transmitting the feedback information to the target terminal through a link modification acceptance message under the condition that the first message is received through a link modification request message;

transmitting the feedback information to the target terminal through a keep-alive confirm message in case of receiving the first message through a keep-alive message;

transmitting the feedback information to the target terminal through a newly defined PC5-RRC message, in case of receiving the first message through the newly defined PC5-RRC message;

and under the condition that the first message is received through the newly defined PC 5-signaling message, sending the feedback information to the target terminal through the newly defined PC 5-signaling message.

35. The apparatus of claim 32, wherein the sending module is configured to:

the method comprises the steps that when a first terminal receives first information which is related to sidelink positioning and is from a target terminal, a first request which is used for requesting second information which is related to the sidelink positioning of a single anchor point terminal is received from the target terminal;

and when the feedback information is sent to the target terminal, sending the second information to the target terminal.

36. The apparatus of claim 35,

the receiving module is further configured to receive the first request from the target terminal after the sending module sends the feedback information to the target terminal when the first terminal is an anchor terminal;

the sending module is further configured to send the second information to the target terminal.

37. The apparatus of claim 36, wherein the receiving module is further configured to at least one of:

receiving the first request through a terminal capability query sidelink message;

receiving the first request through a Radio Resource Control (RRC) reconfiguration sidelink message;

receiving the first request through a link identifier update request message;

receiving the first request through a link identifier update confirm message;

receiving the first request through a disconnect request message;

receiving the first request through a link modification request message;

receiving the first request via a keep-alive message;

receiving the first request through a newly defined PC5-RRC message;

the first request is received via a newly defined PC 5-signaling message.

38. The apparatus of claim 37, wherein the sending module is further configured to at least one of:

under the condition that the first request is received through a terminal capacity query sidelink message, the second information is sent to the target terminal through a terminal capacity information sidelink message;

under the condition that the first request is received through an RRC reconfiguration sidelink message, the second information is sent to the target terminal through the RRC reconfiguration completion sidelink message;

transmitting the second information to the target terminal through a link identifier update response message in a case where the first request is received through a link identifier update request message;

transmitting the second information to the target terminal through a newly defined PC 5-signaling message in case of receiving the first request through a link identifier update confirm message;

transmitting the second information to the target terminal through a disconnection response message in case of receiving the first request through a disconnection request message;

transmitting the second information to the target terminal through a link modification acceptance message in a case where the first request is received through a link modification request message;

transmitting the second information to the target terminal through a keep-alive confirm message in case of receiving the first request through a keep-alive message;

transmitting the second information to the target terminal through a newly defined PC5-RRC message in case of receiving the first request through the newly defined PC5-RRC message;

sending the second information to the target terminal via a newly defined PC 5-signaling message, in case the first request is received via a newly defined PC 5-signaling message.

39. A terminal comprising a processor, a memory and a program or instructions stored on the memory and executable on the processor, the program or instructions when executed by the processor implementing the steps of the positioning method according to any one of claims 1 to 11 or implementing the steps of the positioning method according to any one of claims 12 to 22.

40. A readable storage medium, characterized in that a program or instructions are stored thereon, which program or instructions, when executed by a processor, carry out the steps of the positioning method according to any one of claims 1 to 11, or carry out the steps of the positioning method according to any one of claims 12 to 22.

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